Research And Implementation Of Multi-Robot Formation Control

As developing of computer technology and wireless communication technology, it is possible for multi-robot system to complete the task through the coordination and cooperation which is difficult for single robot. The multi-robot system has many advantages which is difficult to have for single robot, such as rich environment awareness, high efficiency of parallel execution, excellent robustness, and outstanding fault tolerance. The topic of multi-robot formation is important foundation of multi-robot cooperation research, and is hot topics of multi-robot research in domestic and foreign.The research idea of this paper are to design and build the Autonomous mobile robot platform according to the necessary of verification of multi-robot formation control algorithm, after the research, discussion and theory testing. And then implement and verify the research of multi-robot formation control algorithm on the mobile robot platform, success of improving the discussion and verification of multi-robot formation control algorithm from theoretical level to practical level.Firstly, it proposed two multi-robot formation control algorithms based on previous research, they are fusion formation algorithm based on the leader-follower and flocking formation algorithm based on the sensors distribution. Then verify the validity of two algorithms by MATLAB simulation and modify the problems in the simulation.Secondly, it built the Autonomous mobile robot platform with the"Creative Star"Modular robot kits and ICETEK-OMAP-Mini Boards. Then extend the range of functions, such as Monocular recognition, Binocular distance, Interactive communication, Motion control and Distance monitoring.Lastly, it design the motion configuration and the motion model of robots, design the Online simulation debugging tools based on MATLAB, come true the tracking and avoiding of single robot. Finally It is transplanted to the Autonomous mobile robot platform of the research multi-robot formation control algorithm, verify the valid of formation control algorithm.